OpenRaiser/Intern-Atlas huggingface dataset:
Using learning to control artificial avatars in human motor coordination tasks
Venue: arXiv cs.SY 2020
Year: 2020

Designing artificial cyber-agents able to interact with human safely, smartly and in a natural way is a current open problem in control. Solving such an issue will allow the design of cyber-agents capable of co-operatively interacting with people in order to fulfil common joint tasks in a multitude of different applications. This is particularly relevant in the context of healthcare applications. Indeed, the use has been proposed of artificial agents interacting and coordinating their movements with those of a patient suffering from social or motor disorders. Specifically, it has been shown that an artificial agent exhibiting certain kinematic properties could provide innovative and efficient rehabilitation strategies for these patients. Moreover, it has also been shown that the level of motor coordination is enhanced if these kinematic properties are similar to those of the individual it is interacting with. In this paper we discuss, first, a new method based on Markov Chains to confer "human motor characteristics" on a virtual agent, so as that it can coordinate its motion with that of a target individual while exhibiting specific kinematic properties. Then, we embed such synthetic model in a control architecture based on reinforcement learning to synthesize a cyber-agent able to mimic the behaviour of a specific human performing a joint motor task with one or more individuals.
A Stochastic Approximation Approach for Foresighted Task Scheduling in Cloud Computing
Venue: arXiv cs.DC 2020
Year: 2020

With the increasing and elastic demand for cloud resources, finding an optimal task scheduling mechanism become a challenge for cloud service providers. Due to the time-varying nature of resource demands in length and processing over time and dynamics and heterogeneity of cloud resources, existing myopic task scheduling solutions intended to maximize the performance of task scheduling are inefficient and sacrifice the long-time system performance in terms of resource utilization and response time. In this paper, we propose an optimal solution for performing foresighted task scheduling in a cloud environment. Since a-priori knowledge from the dynamics in queue length of virtual machines is not known in run time, an online reinforcement learning approach is proposed for foresighted task allocation. The evaluation results show that our method not only reduce the response time and makespan of submitted tasks, but also increase the resource efficiency. So in this thesis a scheduling method based on reinforcement learning is proposed. Adopting with environment conditions and responding to unsteady requests, reinforcement learning can cause a long-term increase in system's performance. The results show that this proposed method can not only reduce the response time and makespan but also increase resource efficiency as a minor goal.
Recursion Schemes, the MSO Logic, and the U quantifier
Venue: arXiv cs.LO 2020
Year: 2020

We study the model-checking problem for recursion schemes: does the tree generated by a given higher-order recursion scheme satisfy a given logical sentence. The problem is known to be decidable for sentences of the MSO logic. We prove decidability for an extension of MSO in which we additionally have an unbounding quantifier U, saying that a subformula is true for arbitrarily large finite sets. This quantifier can be used only for subformulae in which all free variables represent finite sets (while an unrestricted use of the quantifier leads to undecidability). We also show that the logic has the properties of reflection and effective selection for trees generated by recursion schemes.
Sequence-to-Sequence Acoustic Modeling for Voice Conversion
Venue: arXiv cs.SD 2020
Year: 2020

In this paper, a neural network named Sequence-to-sequence ConvErsion NeTwork (SCENT) is presented for acoustic modeling in voice conversion. At training stage, a SCENT model is estimated by aligning the feature sequences of source and target speakers implicitly using attention mechanism. At conversion stage, acoustic features and durations of source utterances are converted simultaneously using the unified acoustic model. Mel-scale spectrograms are adopted as acoustic features which contain both excitation and vocal tract descriptions of speech signals. The bottleneck features extracted from source speech using an automatic speech recognition (ASR) model are appended as auxiliary input. A WaveNet vocoder conditioned on Mel-spectrograms is built to reconstruct waveforms from the outputs of the SCENT model. It is worth noting that our proposed method can achieve appropriate duration conversion which is difficult in conventional methods. Experimental results show that our proposed method obtained better objective and subjective performance than the baseline methods using Gaussian mixture models (GMM) and deep neural networks (DNN) as acoustic models. This proposed method also outperformed our previous work which achieved the top rank in Voice Conversion Challenge 2018. Ablation tests further confirmed the effectiveness of several components in our proposed method.
O2A: One-shot Observational learning with Action vectors
Venue: arXiv cs.RO 2020
Year: 2020

We present O2A, a novel method for learning to perform robotic manipulation tasks from a single (one-shot) third-person demonstration video. To our knowledge, it is the first time this has been done for a single demonstration. The key novelty lies in pre-training a feature extractor for creating a perceptual representation for actions that we call 'action vectors'. The action vectors are extracted using a 3D-CNN model pre-trained as an action classifier on a generic action dataset. The distance between the action vectors from the observed third-person demonstration and trial robot executions is used as a reward for reinforcement learning of the demonstrated task. We report on experiments in simulation and on a real robot, with changes in viewpoint of observation, properties of the objects involved, scene background and morphology of the manipulator between the demonstration and the learning domains. O2A outperforms baseline approaches under different domain shifts and has comparable performance with an oracle (that uses an ideal reward function).
Convex Analysis for LQG Systems with Applications to Major Minor LQG Mean-Field Game Systems
Venue: arXiv cs.SY 2020
Year: 2020

We develop a convex analysis approach for solving LQG optimal control problems and apply it to major-minor (MM) LQG mean-field game (MFG) systems. The approach retrieves the best response strategies for the major agent and all minor agents that attain an $ε$-Nash equilibrium. An important and distinctive advantage to this approach is that unlike the classical approach in the literature, we are able to avoid imposing assumptions on the evolution of the mean-field. In particular, this provides a tool for dealing with complex and non-standard systems.
Identifying Vessel Branching from Fluid Stresses on Microscopic Robots
Venue: arXiv cs.RO 2020
Year: 2020

Objects moving in fluids experience patterns of stress on their surfaces determined by the geometry of nearby boundaries. Flows at low Reynolds number, as occur in microscopic vessels such as capillaries in biological tissues, have relatively simple relations between stresses and nearby vessel geometry. Using these relations, this paper shows how a microscopic robot moving with such flows can use changes in stress on its surface to identify when it encounters vessel branches.
Optimal Control of Dynamic Bipartite Matching Models
Venue: arXiv cs.DM 2020
Year: 2020

A dynamic bipartite matching model is given by a bipartite matching graph which determines the possible matchings between the various types of supply and demand items. Both supply and demand items arrive to the system according to a stochastic process. Matched pairs leave the system and the others wait in the queues, which induces a holding cost. We model this problem as a Markov Decision Process and study the discounted cost and the average cost problem. We fully characterize the optimal matching policy for complete matching graphs and for the N -shaped matching graph. In the former case, the optimal policy consists of matching everything and, in the latter case, it prioritizes the matchings in the extreme edges and is of threshold type for the diagonal edge. In addition, for the average cost problem, we compute the optimal threshold value. For more general graphs, we need to consider some assumptions on the cost of the nodes. For complete graphs minus one edge, we provide conditions on the cost of the nodes such that the optimal policy of the N-shaped matching graph extends to this case. For acyclic graphs, we show that, when the cost of the extreme edges is large, the optimal matching policy prioritizes the matchings in the extreme edges. We also study the W-shaped matching graph and, using simulations, we show that there are cases where it is not optimal to prioritize to matchings in the extreme edges.
Renormalized Normalized Maximum Likelihood and Three-Part Code Criteria For Learning Gaussian Networks
Venue: arXiv cs.LG 2020
Year: 2020

Score based learning (SBL) is a promising approach for learning Bayesian networks in the discrete domain. However, when employing SBL in the continuous domain, one is either forced to move the problem to the discrete domain or use metrics such as BIC/AIC, and these approaches are often lacking. Discretization can have an undesired impact on the accuracy of the results, and BIC/AIC can fall short of achieving the desired accuracy. In this paper, we introduce two new scoring metrics for scoring Bayesian networks in the continuous domain: the three-part minimum description length and the renormalized normalized maximum likelihood metric. We rely on the minimum description length principle in formulating these metrics. The metrics proposed are free of hyperparameters, decomposable, and are asymptotically consistent. We evaluate our solution by studying the convergence rate of the learned graph to the generating network and, also, the structural hamming distance of the learned graph to the generating network. Our evaluations show that the proposed metrics outperform their competitors, the BIC/AIC metrics. Furthermore, using the proposed RNML metric, SBL will have the fastest rate of convergence with the smallest structural hamming distance to the generating network.
SG-One: Similarity Guidance Network for One-Shot Semantic Segmentation
Venue: arXiv cs.CV 2020
Year: 2020

One-shot image semantic segmentation poses a challenging task of recognizing the object regions from unseen categories with only one annotated example as supervision. In this paper, we propose a simple yet effective Similarity Guidance network to tackle the One-shot (SG-One) segmentation problem. We aim at predicting the segmentation mask of a query image with the reference to one densely labeled support image of the same category. To obtain the robust representative feature of the support image, we firstly adopt a masked average pooling strategy for producing the guidance features by only taking the pixels belonging to the support image into account. We then leverage the cosine similarity to build the relationship between the guidance features and features of pixels from the query image. In this way, the possibilities embedded in the produced similarity maps can be adapted to guide the process of segmenting objects. Furthermore, our SG-One is a unified framework which can efficiently process both support and query images within one network and be learned in an end-to-end manner. We conduct extensive experiments on Pascal VOC 2012. In particular, our SGOne achieves the mIoU score of 46.3%, surpassing the baseline methods.
Distributed Mixed Voltage Angle and Frequency Droop Control of Microgrid Interconnections with Loss of Distribution-PMU Measurements
Venue: arXiv cs.SY 2020
Year: 2020

Recent advances in distribution-level phasor measurement unit (D-PMU) technology have enabled the use of voltage phase angle measurements for direct load sharing control in distribution-level microgrid interconnections with high penetration of renewable distributed energy resources (DERs). In particular, D-PMU enabled voltage angle droop control has the potential to enhance stability and transient performance in such microgrid interconnections. However, these angle droop control designs are vulnerable to D-PMU angle measurement losses that frequently occur due to the unavailability of a GPS signal for synchronization. In the event of such measurement losses, angle droop controlled microgrid interconnections may suffer from poor performance and potentially lose stability. In this paper, we propose a novel distributed mixed voltage angle and frequency droop control (D-MAFD) framework to improve the reliability of angle droop controlled microgrid interconnections. In this framework, when the D-PMU phase angle measurement is lost at a microgrid, conventional frequency droop control is temporarily used for primary control in place of angle droop control to guarantee stability. We model the microgrid interconnection with this primary control architecture as a nonlinear switched system and design distributed secondary controllers to guarantee transient stability of the network. Further, we incorporate performance specifications such as robustness to generation-load mismatch and network topology changes in the distributed control design. We demonstrate the performance of this control framework by simulation on a test 123-feeder distribution network.
PriSTE: From Location Privacy to Spatiotemporal Event Privacy
Venue: arXiv cs.DB 2020
Year: 2020

Location privacy-preserving mechanisms (LPPMs) have been extensively studied for protecting a user's location at each time point or a sequence of locations with different timestamps (i.e., a trajectory). We argue that existing LPPMs are not capable of protecting the sensitive information in user's spatiotemporal activities, such as "visited hospital in the last week" or "regularly commuting between Address 1 and Address 2 every morning and afternoon" (it is easy to infer that Addresses 1 and 2 may be home and office). We define such privacy as \textit{Spatiotemporal Event Privacy}, which can be formalized as Boolean expressions between location and time predicates. To understand how much spatiotemporal event privacy that existing LPPMs can provide, we first formally define spatiotemporal event privacy by extending the notion of differential privacy, and then provide a framework for calculating the spatiotemporal event privacy loss of a given LPPM under attackers who have knowledge of user's mobility pattern. We also show a case study of utilizing our framework to convert the state-of-the-art mechanism for location privacy, i.e., Planner Laplace Mechanism for Geo-indistinguishability, into one protecting spatiotemporal event privacy. Our experiments on real-life and synthetic data verified that the proposed method is effective and efficient.
A Scalable, Flexible Augmentation of the Student Education Process
Venue: arXiv cs.CY 2020
Year: 2020

We present a novel intelligent tutoring system which builds upon well-established hypotheses in educational psychology and incorporates them inside of a scalable software architecture. Specifically, we build upon the known benefits of knowledge vocalization, parallel learning, and immediate feedback in the context of student learning. We show that open-source data combined with state-of-the-art techniques in deep learning and natural language processing can apply the benefits of these three factors at scale, while still operating at the granularity of individual student needs and recommendations. Additionally, we allow teachers to retain full control of the outputs of the algorithms, and provide student statistics to help better guide classroom discussions towards topics that would benefit from more in-person review and coverage. Our experiments and pilot programs show promising results, and cement our hypothesis that the system is flexible enough to serve a wide variety of purposes in both classroom and classroom-free settings.
Negative results for approximation using single layer and multilayer feedforward neural networks
Venue: arXiv cs.LG 2020
Year: 2020

We prove a negative result for the approximation of functions defined on compact subsets of $\mathbb{R}^d$ (where $d \geq 2$) using feedforward neural networks with one hidden layer and arbitrary continuous activation function. In a nutshell, this result claims the existence of target functions that are as difficult to approximate using these neural networks as one may want. We also demonstrate an analogous result (for general $d \in \mathbb{N}$) for neural networks with an \emph{arbitrary} number of hidden layers, for activation functions that are either rational functions or continuous splines with finitely many pieces.
Area Attention
Venue: arXiv cs.LG 2020
Year: 2020

Existing attention mechanisms are trained to attend to individual items in a collection (the memory) with a predefined, fixed granularity, e.g., a word token or an image grid. We propose area attention: a way to attend to areas in the memory, where each area contains a group of items that are structurally adjacent, e.g., spatially for a 2D memory such as images, or temporally for a 1D memory such as natural language sentences. Importantly, the shape and the size of an area are dynamically determined via learning, which enables a model to attend to information with varying granularity. Area attention can easily work with existing model architectures such as multi-head attention for simultaneously attending to multiple areas in the memory. We evaluate area attention on two tasks: neural machine translation (both character and token-level) and image captioning, and improve upon strong (state-of-the-art) baselines in all the cases. These improvements are obtainable with a basic form of area attention that is parameter free.
Learning color space adaptation from synthetic to real images of cirrus clouds
Venue: arXiv cs.CV 2020
Year: 2020

Cloud segmentation plays a crucial role in image analysis for climate modeling. Manually labeling the training data for cloud segmentation is time-consuming and error-prone. We explore to train segmentation networks with synthetic data due to the natural acquisition of pixel-level labels. Nevertheless, the domain gap between synthetic and real images significantly degrades the performance of the trained model. We propose a color space adaptation method to bridge the gap, by training a color-sensitive generator and discriminator to adapt synthetic data to real images in color space. Instead of transforming images by general convolutional kernels, we adopt a set of closed-form operations to make color-space adjustments while preserving the labels. We also construct a synthetic-to-real cirrus cloud dataset SynCloud and demonstrate the adaptation efficacy on the semantic segmentation task of cirrus clouds. With our adapted synthetic data for training the semantic segmentation, we achieve an improvement of 6:59% when applied to real images, superior to alternative methods.
Attack Graph Convolutional Networks by Adding Fake Nodes
Venue: arXiv cs.LG 2020
Year: 2020

In this paper, we study the robustness of graph convolutional networks (GCNs). Previous work have shown that GCNs are vulnerable to adversarial perturbation on adjacency or feature matrices of existing nodes; however, such attacks are usually unrealistic in real applications. For instance, in social network applications, the attacker will need to hack into either the client or server to change existing links or features. In this paper, we propose a new type of "fake node attacks" to attack GCNs by adding malicious fake nodes. This is much more realistic than previous attacks; in social network applications, the attacker only needs to register a set of fake accounts and link to existing ones. To conduct fake node attacks, a greedy algorithm is proposed to generate edges of malicious nodes and their corresponding features aiming to minimize the classification accuracy on the target nodes. In addition, we introduce a discriminator to classify malicious nodes from real nodes, and propose a Greedy-GAN attack to simultaneously update the discriminator and the attacker, to make malicious nodes indistinguishable from the real ones. Our non-targeted attack decreases the accuracy of GCN down to 0.03, and our targeted attack reaches a success rate of 78% on a group of 100 nodes, and 90% on average for attacking a single target node.
Probabilistic Analysis of Optimization Problems on Generalized Random Shortest Path Metrics
Venue: arXiv cs.DS 2020
Year: 2020

Simple heuristics often show a remarkable performance in practice for optimization problems. Worst-case analysis often falls short of explaining this performance. Because of this, "beyond worst-case analysis" of algorithms has recently gained a lot of attention, including probabilistic analysis of algorithms. The instances of many optimization problems are essentially a discrete metric space. Probabilistic analysis for such metric optimization problems has nevertheless mostly been conducted on instances drawn from Euclidean space, which provides a structure that is usually heavily exploited in the analysis. However, most instances from practice are not Euclidean. Little work has been done on metric instances drawn from other, more realistic, distributions. Some initial results have been obtained by Bringmann et al. (Algorithmica, 2013), who have used random shortest path metrics on complete graphs to analyze heuristics. The goal of this paper is to generalize these findings to non-complete graphs, especially Erdős-Rényi random graphs. A random shortest path metric is constructed by drawing independent random edge weights for each edge in the graph and setting the distance between every pair of vertices to the length of a shortest path between them with respect to the drawn weights. For such instances, we prove that the greedy heuristic for the minimum distance maximum matching problem, the nearest neighbor and insertion heuristics for the traveling salesman problem, and a trivial heuristic for the $k$-median problem all achieve a constant expected approximation ratio. Additionally, we show a polynomial upper bound for the expected number of iterations of the 2-opt heuristic for the traveling salesman problem.
Multi-Agent Common Knowledge Reinforcement Learning
Venue: arXiv cs.MA 2020
Year: 2020

Cooperative multi-agent reinforcement learning often requires decentralised policies, which severely limit the agents' ability to coordinate their behaviour. In this paper, we show that common knowledge between agents allows for complex decentralised coordination. Common knowledge arises naturally in a large number of decentralised cooperative multi-agent tasks, for example, when agents can reconstruct parts of each others' observations. Since agents an independently agree on their common knowledge, they can execute complex coordinated policies that condition on this knowledge in a fully decentralised fashion. We propose multi-agent common knowledge reinforcement learning (MACKRL), a novel stochastic actor-critic algorithm that learns a hierarchical policy tree. Higher levels in the hierarchy coordinate groups of agents by conditioning on their common knowledge, or delegate to lower levels with smaller subgroups but potentially richer common knowledge. The entire policy tree can be executed in a fully decentralised fashion. As the lowest policy tree level consists of independent policies for each agent, MACKRL reduces to independently learnt decentralised policies as a special case. We demonstrate that our method can exploit common knowledge for superior performance on complex decentralised coordination tasks, including a stochastic matrix game and challenging problems in StarCraft II unit micromanagement.